Location for unmanned aerial vehicle landing and taking off

ABSTRACT

An unmanned aerial vehicle (UAV) system, location and method, for operation with a flight management system, has a controlled access UAV zone for at least one of: UAV landing, UAV loading, and UAV take-off. A sensor can be in communication with a control panel and/or a lock to govern access to the UAV zone. The zone can have a barrier with closure secured by the lock, and controlled by a flight management system. Separate access codes can be provided for departure and destination locations, to enable personnel associated with a delivery request to access those locations, to effect delivery of an article. The codes can be generated and supplied when the flight management system receives a valid delivery request.

RELATED APPLICATION

This application is a division of U.S. application Ser. No. 15/299,923filed Oct. 21, 2016, which claims the benefit of U.S. ProvisionalApplication No. 62/355,024, filed on Jun. 27, 2016; the entire contentof these applications is herein incorporated by reference.

FIELD

The present disclosure relates to unmanned aerial vehicles, andlocations or facilities for unmanned vehicles.

INTRODUCTION

The following paragraphs are not an admission that anything discussed inthem is prior art or part of the knowledge of persons skilled in theart.

Unmanned aerial vehicles (UAVs) have been coming into prominence andhave been implemented in limited situations. One obstacle to expandingthe uses of UAVs may be public safety. UAVs have also been proposed fordelivering of articles, but there is no practical proposal for deliveryof articles for customers or users who have little knowledge orfamiliarity with UAVs.

Know proposals for using UAVs can be found in U.S. Pat. Nos. 9,174,733and 9,244,147; and U.S. Publication Nos. 201201453482, 20140032034 and20150120094, the contents of all of which are incorporated by reference.

SUMMARY

The following is intended to introduce the reader to the detaileddescription that follows and not to define or limit the claimed subjectmatter.

In accordance with a first aspect of the disclosure, there is providedan unmanned aerial vehicle (UAV) system for operation with a flightmanagement system, comprising:

a control panel;

a controlled access UAV zone for at least one of: UAV landing, UAVloading, and UAV take-off; and

at least a first sensor in communication with the control panel;

the control panel being operable to govern access to the UAV zone inresponse to at least one signal from the first sensor.

The UAV zone may have a barrier with an opening and a gate for theopening and at least one remotely operable lock for the gate, the lockbeing connected to at least one of the control panel and the flightmanagement system.

The control panel may be operable to store an access code for the UAVzone; and the control panel may be operable to communicate with theflight management system and receive updates to the access code from theflight management system.

The first sensor may be operable to detect the presence of anobstruction within the UAV zone, and the control panel may be operableto restrict access to the UAV zone upon detection of an obstructiontherein by the first sensor. The first sensor may be operable with thecontrol panel to determine the obstruction as being one of: a) at leastone animate object, b) at least one inanimate object; and c) acombination of at least one animate object and at least one inanimateobject.

The control panel may be operable with the flight management system tohalt all UAV landings and take-offs to and from the UAV zone upondetection of the obstruction.

The UAV system can include at least one of a motion detection sensor anda video surveillance apparatus connected to at least one of the controlpanel and the flight management system for control of the gate; whereinthe flight management system is operable to override operation of thelock.

The UAV zone may include a cleaner operable to remove at least one typeout of a group of possible types of the obstruction from the UAV zone,the group comprising: (a) at least one animate object; (b) at least oneinanimate object; and (c) at least one animate object in combinationwith at least one inanimate object; and the control panel is operable tostart the cleaner in response to receiving a signal indicating that theUAV zone has an obstruction of type a), and the UAV zone is free fromUAV landings and take-offs.

The cleaner may be an air blower mounted within the UAV zone and/or arobot movable within the UAV zone.

A further aspect of the present disclosure provides a location for anunmanned aerial vehicle (UAV), the location comprising:

an enclosure defining at least one zone for UAV landing and UAVtake-off;

a barrier around the zone to prevent access to the zone;

an opening in the barrier;

a closure for the opening, to permit access to the location; and

a lock for the closure that can be controlled remotely.

The lock may be an electrically actuated lock, and a plurality ofelectrically actuated locks can be provided for redundancy. Further, acontrol panel may be connected to each lock for control thereof, withthe control panel optionally including a display and a key pad forentering an access code, or being adapted to receive an access codethrough a wired or wireless connection.

The control panel may include at least one of a weather proof case andthe display may be operable to show status and alarm informationpertaining to at least one of: a) the location, and b) at least one UAVscheduled to interact with the location.

The control panel may include a connection to a flight management systemfor a UAV. The connection to the flight management system can beprovided by at least one of a wireless internet connection, a satelliteconnection, a cellular connection, and a landline.

Multiple sensors can be provided on the closure, to detect if theclosure is open or closed, and only permitting operation of a UAV withinthe enclosure when the closure is closed.

The location may include a solar panel connected with battery storage,the solar panel and storage being connected to the control panel toprovide a primary power source. The location may include at least one ofvideo surveillance and a motion detector for detecting motion within theenclosure, which can include at least one of an audible alarm andwarning lights.

The lights may comprise one of:

(i) a red warning light to indicate that the closure is secured andaccess is prohibited;

(ii) a red warning light to indicate that the closure is secured andaccess is prohibited and a green light to indicate that access isavailable and that the lock may be opened with an access code; and

(iii) a series of colored lights to indicate status, including a redlight to indicate that the closure is secured the zone for UAV landingmust not be entered, a green light to indicate that access is availableand that the lock may be opened with an access code, and a yellow lightto indicate that there is an incoming UAV and the zone for UAV landingshould not be entered.

The location may include a weight sensor for determining a gross weightof a UAV, the weight sensor being connected to at least one of thecontrol panel and a flight management system.

The location may have, as the zone for UAV landing, a landing zone, anda heater for the landing zone, and also may include a blower fordisplacing unwanted debris from the zone for UAV landing.

The location may include one or more sensors for detecting hazardousmaterials. The one or more sensors may be positioned at the zone for UAVlanding, and arranged to detect hazardous materials that are loaded onthe UAV. The one or more sensors may be connected to at least one of thecontrol panel and a flight management system.

The location may include a connection to a backup power supply.

The barrier may comprise a fence and the closure may comprise a gate inthe fence, and the barrier optionally may comprise a wall.

A further aspect of the disclosure provides a UAV location managementmethod for use with a flight management system, comprising:

providing a secure access unmanned aerial vehicle (UAV) location;

providing a cleaner for the location; and

monitoring for an obstruction in the UAV location;

when an obstruction is present in the UAV location:

-   -   (i) restricting access to the UAV location;    -   (ii) transmitting an instruction to the flight management system        to halt UAV flights and take-offs to and from the UAV location;        and    -   (iii) transmitting an instruction to the cleaner to clear the        obstruction from the UAV location.

The method may further include:

determining that the obstruction is one of:

-   -   a) at least one animate object,    -   b) at least one inanimate object, and    -   c) at least one animate object in combination with at least one        inanimate object; and

when the obstruction is determined to be at least one inanimate object,performing at least one of the steps (i) to (iii).

The method may provide at least one of an audible and visualnotification at the UAV location when an obstruction is present in theUAV location, and also at least one of an audio and visual notificationof each UAV landing and take-off.

The method may further comprise:

providing at least a first weight-sensitive UAV pad for at least UAVtake-offs; and

by using at least one computing system:

-   -   assigning a gross weight limit to each UAV scheduled to take-off        from the UAV pad, the limit being based on a safety factor and        at least one of:        -   a) a characteristic of the UAV,        -   b) a characteristic of a power source of the UAV,        -   c) a scheduled flight path for the UAV, and        -   d) a weather condition;

monitoring the weight of the UAV when the UAV is positioned on the UAVpad; and

transmitting a halt-flight signal to the flight management system forthe UAV where the weight exceeds the limit.

A first UAV-readable identifier can be provided for the first UAV pad,the identifier identifying at least one of: (a) a location of the UAVpad; and (b) an identity of the UAV pad.

At least a second UAV pad can be provided for at least UAV take-offs,and providing a second UAV-readable identifier for the second UAV pad,the second identifier being UAV-distinguishable from the firstidentifier.

The method may further comprise, by using at least one computing system:

providing a video feed showing the UAV location;

at least when an obstruction in the location is detected, rendering thefeed available on at least one channel to be accessed by at least oneof:

-   -   a) an operator of the flight management system, and    -   b) an operator of the UAV zone; and

providing at least one channel for receiving, from at least one of theoperators, an override to at least one of the steps of:

-   -   a) restricting access to the UAV location, and    -   b) transmitting an instruction to the flight management system        to halt UAV flights and take-offs.

The method may further comprise, by using at least one computing system:

controlling ground access to the UAV location by requesting entry of aground access code upon receiving a request for the ground access to thelocation;

receiving a reference code from the flight management system;

comparing the ground access code with the reference code;

denying the ground access where the ground access code does not matchthe reference code; and

granting the ground access where the ground access code matches thereference code.

At least one of a land line or hard wired connection, an internetconnection, a cellular connection, a wifi connection and a satelliteconnection may be included for the flight management system to accessthe at least one channel.

A further aspect of the disclosure provides a method of managing anunmanned aerial vehicle (UAV) landing and take-off location, the methodcomprising the steps of:

providing an enclosure defined by a barrier, the enclosure including atleast one zone for landing and at least one zone for take-off of a UAV;

providing an opening in the barrier and a closure for closing theopening; and

providing a remotely actuatable lock for the closure.

A control panel can be connected to the lock, and can enable a user toinput an access code to the control panel to open the lock. At least oneof visual or audible notification of a status of the enclosure can beprovided. The lock can be connected to a flight management system,operable via the connection to actuate the lock.

A weight sensor can be provided on at least one UAV take-off zone, theweight sensor being connected to the flight management system. Themethod may also include: verifying that the weight of a UAV is within adefined limit; and only permitting take-off of a UAV, the UAV having aweight, if the weight of the UAV is below a defined limit.

The method may also include: before arrival of a UAV, closing theclosure and providing at least one of a visual and audible alarm that aUAV will be landing; and providing an all-clear signal to the flightmanagement system indicating that the enclosure is secure and that theUAV may land on the landing zone.

At least one of a motion detector and a video surveillance apparatus forthe enclosure can be provided; and the method then includes checking themotion detector and the video surveillance apparatus to determine thatthe landing zone is clear, before providing the all-clear signal to theflight management system.

BRIEF DESCRIPTION OF THE FIGURES

For a better understanding of the described embodiments and to show moreclearly how they may be carried into effect, reference will now be made,by way of example, to the accompanying drawings in which:

FIG. 1 is a schematic of an example location for unmanned aerial vehicle(UAV) landing and taking off, according to one embodiment;

FIGS. 2 and 3 are schematic examples of other embodiments of a locationfor UAV landing and taking off; and

FIG. 4 is a schematic side section view of an example UAV pad, accordingto one embodiment.

DETAILED DESCRIPTION

Various systems, apparatuses or methods will be described below toprovide an example of an embodiment of each claimed invention. Noembodiment described below limits any claimed invention and any claimedinvention may cover apparatuses and methods that differ from thosedescribed below. The claimed inventions are not limited to systems,apparatuses and methods having all of the features of any one apparatusor method described below, or to features common to multiple or all ofthe systems, apparatuses or methods described below. It is possible thata system, apparatus or method described below is not an embodiment ofany claimed invention. Any invention disclosed in a system, apparatus ormethod described below that is not claimed in this document may be thesubject matter of another protective instrument, for example, acontinuing patent application, and the applicant(s), inventor(s) and/orowner(s) do not intend to abandon, disclaim or dedicate to the publicany such invention by its disclosure in this document.

Various embodiments of a location 100 for unmanned aerial vehicle (UAV)102 landing and taking off are described below.

Reference is now made to FIG. 1, which shows an example location for aUAV 102 landing and taking off. The location 100 has an enclosure 106, abarrier 104 around the enclosure 106, at least one of a landing zone108, 126 and a take-off zone 108, 126 in the enclosure 106, an opening110 in the barrier 104, a closure 112 for the opening 110, a controlpanel 116, a flight management system 150, and at least one remotelyoperable lock 114 for the enclosure 106. The control panel 116 may beoperable to provide for restricting access and granting access to thelocation 100. As shown, the lock 114 may be connected to at least one ofthe control panel 116 and the flight management system 150, e.g.wirelessly. In one example, the closure 112 may be provided as a gate112 operable to selectively provide and restrict ground access to thelocation 100 via the opening 110.

While a control panel 116 is shown separately from the lock 114, theycould be combined in one device. Where there are a plurality of locks,each could have the necessary functionality of the control panel tocommunicate with the flight management system, or one lock could be a‘master lock’ with this functionality, and other locks could be ‘slavelocks’ controlled by the master lock. In this case, a separatecommunication device(s) can be provided for communications with user,which can include a touchscreen, visual indication of status of locks,etc.

Each of the zones 108, 126 may be identified as being for only one oflanding and taking off, or may be designated for both landing and takingoff. For a zone designated or used only for taking off an identifier maynot be so critical, but is preferred as it enables the UAV to read theidentifier and ensure it is departing from the correct location.

The barrier 104 and the gate or closure 112 can be provided in the formof a wire mesh fence with a gate also formed of wire mesh on a frame,for example. The height of the barrier 104 and fence 112 can be in therange of 6 to 8 feet (or approx. 1.85 to 2.45 metres). The barrier mayalternatively be in the form of a wall. Additionally, while the location100 is shown with a vertical enclosure open at the top, for UAVs toenter and exit vertically, other configurations are possible,particularly for winged UAVs that require horizontal landing andtake-off facilities. The location 100 could be provided with a coveringor roof partially or completely covering the location 100. At least fora full cover over the location 100, part of the cover will be movable toopen the location to access by UAVs. The use of a cover or roof may haveadvantages in climates subject to snow or other precipitation harmful toUAVs. Further, as even rotor powered UAVs can land and take-offessentially horizontally, the location 100 may have a complete and fixedroof or cover, with the UAVs entering and leaving the zone from oneside. (Although, for rotor driven UAVs, the immediate motion on arrivingand leaving a landing or take-off zone may be vertical, this need onlybe for a small distance.) In this case an open side may include doors orgates to close off the location 100. This may particularly applicable,when the location can be provided on top of a building. In this case theopen side of the location 100 may be provided continuous with a sidewall of the building, so that even when open, it does not provide anaccess opening to unauthorized personnel.

In one aspect, the control panel 116 may be operable to store an accesscode for the location 100, and to receive updates to the access codefrom the flight management system 150. In another aspect, the controlpanel 116 may be operable to store additional access codes for thelocation 100. For example, additional access codes may be programmableinto the control panel 116 via at least one of an input-output deviceconnected to the control panel 116 The control panel may be configuredfor communication with user handheld or mobile devices, such assmartphones and tablet computers, and for this purpose user handhelddevices may have a mobile app adapted to communicate with the controlpanel 116 and/or the lock 114.

At least one of the control panel 116 and the flight management system150 may be operable to assign various access levels to the additionalaccess codes. In some examples, the access levels may includerestrictions on access times, times of day during which a given code maybe used, and locations 100 to which the codes may grant access. In otherexamples, the access levels may also include one or more safetyinterlocks with various conditions for a given location 100. Forexample, a particular access code may be programmed to provide groundaccess to the location 100 irrespective of whether a condition (such as,for example, an obstruction) at the location 100, which condition maysuspend other access codes, exists. Such an access code would beassigned to a person in a supervisory role, responsible for themaintenance of the location 100.

In another aspect, the location 100 may include a first sensor operableto detect an obstruction within the location. The control panel 116 maybe operable to restrict access to the location upon detection of anobstruction to the location by the first sensor. In one example, thefirst sensor may include a video sensor 120 or a video surveillanceapparatus 120. In another example, the first sensor may include a videosensor 120 operable with at least one processor executing instructionsstored on a non-transitory memory to detect an obstruction. In yet otherexamples, the location 100 may include a second sensor operable with thefirst sensor to detect an obstruction. In one example, the second sensormay include an infrared sensor. In a particular example, the firstsensor may be operable to detect a quantity of obstructions, and thesecond sensor may be operable to detect, for each obstruction, a type ofthe obstruction. Other possible sensors are thermal sensors andphoto-electric sensors, where interruption of a laser beam on light beamindicates the presence of an unwanted object.

In some embodiments, the first sensor may be operable with at least oneprocessor to detect at least one of an animate object and an inanimateobject. In some embodiments, the first sensor may be operable with thesecond sensor to detect at least one of an animate object and aninanimate object. Such objects may be obstructions to the location 100in that they may pose a risk to UAV 102 landings and take-offs,depending on the nature of the object(s). The control panel 116 may beoperable with the flight management system 150 to halt all UAV landingsand take-offs to and from the location 100 upon the detection of anobstruction. Examples of inanimate objects that may be obstructions mayinclude: leaves, tree branches, and articles of garbage which may be,for example, blown into a given location 100 by a wind. Examples ofanimate objects that may be obstructions may include: persons andanimals.

In one example, the control panel 116 may be operable to determine theobstruction to be one of: at least one animate object, at least oneinanimate object, and at least one animate object in combination with atleast one inanimate object. In other examples, at least one of thecontrol panel 116 and the flight management system 150 may be operableto perform the determination. For example, the control panel 116 may beoperable with the first sensor to distinguish between animate andinanimate projects, and in at least some embodiments to also distinguishwhether the one type, the other type, or both types of objects arepresent within the location 100.

Obstructions such as animate and inanimate objects may pose a risk toUAV 102 landings and take-offs. UAV 102 landings and take-offs may posea risk, such as a risk of injury or death, to the animate objects. Insome examples, animate objects may be removed from the location 100 byproviding, for example, at least one of an audio 124 and a visual 122signal to the animate objects. In one example, a given color of lightsignal may be provided along with, for example, a buzzer. In oneexample, the light signal may be provided by at least one light source122. The at least one light source 122 may be mounted on, for example,the enclosure 106. In other examples, a siren 124 may be provided togenerate a sound at the location 100. In an aspect, a siren 124 may beoperable to scare off animals from the location 100.

To discourage animals, and insects from entering or staying in thelocation, the location can be provided with a high frequency soundsource, at a frequency that is inaudible to humans. This can be runcontinuously, or before and during a UAV take-off and landing, asrequired.

In some embodiments, the location 100 may include a cleaner 118 operableto remove at least inanimate objects from the location 100. Depending onthe embodiment of the cleaner 118 selected for a particular embodimentof the location 100, it may be safe to operate the cleaner 118 even whenan animate object is present within the location 100. One such examplecleaner 118 may include an automated vacuum robot movable within thelocation 100 and equipped with collision and location sensors operableto allow the robot to avoid collisions and to operate within thelocation 100. In some cases, the cleaner 118 may be programmable tooperate in designated parts of the location 100.

The parts may be designated by, for example, at least one combination ofan infrared light source and a corresponding infrared sensor. Theinfrared light and sensor combination may be operable with at least thecontrol panel to detect when the cleaner 118 interrupts a line of“sight” between the source and sensor, and in response send a signal tothe cleaner 118 to change at least one operating characteristic of thecleaner 118. In one example, the characteristic may include a directionof motion of the cleaner 118.

A suitable cleaner 118 may be selected based on a given embodiment ofthe location 100. The cleaner 118 may be selected to be suitable forremoving the types of obstructions that may be expected to occur at thegiven location 100. In one example, the cleaner 118 may be an air blower118 disposed within the location 100. The blower 118 may be operable togenerate and direct an air stream to the location 100 to remove at leastone type of obstruction from the location 100.

Depending on the features of a given embodiment of the location 100 andthe at least one UAV 102 used with the location 100, operating thecleaner 118 may pose a risk to at least one of the at least one UAV 102and animate objects that may be present within the location 100 atvarious times. In other examples, operating the cleaner 118 may causediscomfort to the animate objects. Accordingly, the control panel 116may be operable to start the cleaner 118 when the location 100 is freefrom UAV 102 landings and take-offs and the obstruction is determined tobe at least one inanimate object

In another aspect, the control panel 116 may be operable to: a) provideat least one warning signal, such as for example described above, whenat least one animate obstruction and at least one inanimate obstructionis detected; b) monitor the animate obstruction; and c) start thecleaner 118 after the control panel receives an indication (for example,a signal) that the location 100 is free from animate obstructions andcontains at least one inanimate obstruction. In yet other examples, thecontrol panel 116 may be operable to generate a signal to halt all UAVlandings and take-offs scheduled for the location 100, then start thecleaner 118, and then generate a signal to resume UAV landings andtake-offs once it is determined that the location 100 is free fromobstructions.

Depending on the use of a given embodiment of the location 100, it maybe desirable to record at least one form of proof of UAV 102 landingsand take-offs. In more particular examples, it may be desirable torecord at least one form of proof of safe UAV 102 landings andtake-offs. In some examples, the location 100 may include at least onesensor operable with at least one of a computing system and a processorto detect at least one of an approach, landing, and take-off of the atleast one UAV 102 and to record a video of the at least one approach,landing, and take-off.

A UAV location management method for use with a flight management systemis described next. In another aspect, a method of managing an unmannedaerial vehicle (UAV) landing and take-off location is also described.

The method may include providing a location 100 for at least one of UAV102 landing and taking off, providing a cleaner 118 for the location100, and by using at least one computing system: a) monitoring for atleast one obstruction to the location 100; and b) determining the atleast one obstruction as being one of: at least one animate object, atleast one inanimate object, and at least one animate object incombination with at least one inanimate object.

The method may further include, when the obstruction is determined to beat least one inanimate object, performing at least one of: a)restricting access to the location 100; b) transmitting an instructionto the flight management system 150 to halt UAV 102 flights andtake-offs to and from the location 100; and c) transmitting aninstruction to the cleaner 118 to remove the inanimate object from thelocation 100.

In another aspect, the method may also include providing at least one ofan audible 124 and a visual 122 notification at the location 100 when anobstruction is detected. In another aspect, the method may also includeproviding at least one of an audio 122 and visual 124 notification ofeach UAV 102 landing and take-off.

Additionally both before and during landing and take-off, the audibleand visual notification devices 122, 124 can be operated to deteranimals, etc. Also, as a standard part of any UAV landing or take-off,blowers and other cleaning devices can be operate before the landing ortake-off.

In another aspect, the method, as shown in FIG. 4, may also include:providing at least a first weight-sensitive UAV pad 200 for each of thezones 108, 126 for at least UAV 102 take-offs; and by using at least onecomputing system: 1) assigning a gross weight limit to each UAV 102scheduled to take-off from the UAV pad 200, the limit being based on asafety factor and at least one of: a) a characteristic of the UAV 102,b) a characteristic of a power source of the UAV 102, c) a scheduledflight path for the UAV 102, d) and a weather condition; 2) monitoring aweight exerted on the UAV pad 200 when the UAV 102 is positioned on theUAV pad 200; and 3) transmitting a halt-flight signal to the flightmanagement system 150 for the UAV 102 where the weight exceeds thelimit.

The location 100 can also include a computer portal or monitor 132and/or a display 140. The monitor 132 can include an input keyboard anddisplay 136, which can be combined as a touchscreen. It can additionallyinclude a printer 138, for printing various documents. For example, theprinter could be used to print a label for adhering to an article to bedelivered, with the label bearing a barcode or other machine-readablecode. The code can then be scanned or read at various locations, totrack delivery of an article. Various electrically powered devices atthe location 100, including the monitor 132 can be connected to aconventional electrical supply and/or to a solar panel 134. Where thesolar panel is provided, backup battery capacity can be provided.

Reference is now briefly made to FIG. 4. In a particular example, theweight-sensitive UAV pad 200 may comprise a pad body 204 and a level pad202 slidable up 208 and down 208 relative to the body 204. The body 204may include at least one weight sensor 210 in communication with atleast one of the control panel 116 (FIG. 1) and a processor. The levelpad 202 may be sized to accommodate for at least one of a landing and atake-off of the at least one UAV 102.

In yet another aspect, the method may also include providing a firstUAV-readable identifier 128 for the first UAV pad 200, the identifier128 identifying at least one of: a location 100 of the UAV pad 200, andan identity of the UAV pad 200. In yet another aspect, the method mayalso include providing at least a second UAV pad 200 for at least UAV102 take-offs, and providing a second UAV-readable identifier 130 forthe second UAV pad 200. In some examples, the second identifier 130 maybe UAV-distinguishable from the first identifier 128. More than two UAVzones, for landing and taking off, can be provided, as required.

Each identifier optionally can include a logo, trademark or otherindicia indicative of an operator of the system. Alternatively or aswell, each identifier could include a logo, trademark or other indiciaof a person, business or organization associated with or managing aparticular location. Thus, if a location is provided at a business orshopping mall, that business or shopping mall may want to incorporatetheir name, logo, etc. into the identifier 128, 130.

In some examples, at least one of the identifiers 128, 130 may includeat least one mark that may be distinguishable, and in some casesreadable, by a UAV 102. For example, a UAV 102 may include a sensoroperable with a processor to distinguish, and in some cases read, themark. In a particular example, the mark may include a matrix barcode128, 130, such as a Quick Response Code™. In a particular example, theUAV 102 may include a video sensor in communication with a processor,and the video sensor may be operable with the processor to captureimages of the ground in a vicinity of the UAV 102 and monitor the imagesfor the presence of the mark. Upon detecting the mark, the processor mayinterpret, for example, particular geometrical features of the mark togenerate information pertaining to the mark and UAV zone 108, 126. Insome cases, the processor may execute instructions stored on anon-transient memory in order to refine the images using, for example,Reed-Solomon error correction, until the processor can interpret theimages. The identifiers 128, 130 may also include beacons that transmita signal that can be identified by a UAV and used to home in on thedesired UAV zone 108, 126.

In another aspect, the method may also include, by using at least onecomputing system: providing a video feed showing the location 100; andat least when an obstruction in the location 100 is detected, renderingthe feed available on at least one channel to be accessed by at leastone of: a) an operator of the flight management system 150, and b) anoperator of the location 100. The method may further include providingat least one channel for receiving, from at least one of the operators,an override to at least one of the steps of: a) restricting access tothe location 100, and b) transmitting an instruction to the flightmanagement system 150 to halt all UAV 102 flights and take-offs to andfrom the location 100.

In yet another aspect, the method may also include, by using at leastone computing system: controlling ground access to the location 100 byrequiring a user to enter a ground access code, upon receiving a requestfrom the user for ground access; having the flight management system 150send the user an access code, that many be sent to a user handhelddevice; having the user enter the access code at the control panel 116;denying the ground access where the ground access code is incorrect; andgranting the ground access when the correct access code is entered.

In examples where the location 100 includes an opening 110 and a gate112 for the opening being selectively lockable and unlockable via a lock114, the granting of ground access may include unlocking the lock 114and denying the ground access may include locking the lock 114.

In yet another aspect, the method may also include providing at leastone of an internet connection, a cellular connection, a satelliteconnection, a private RF connection, a wired connection and a wirelessconnection for the flight management system 150 to access the at leastone channel and communicate with the control panel 116. The flightmanagement system 150 may be operable to control the at least one UAV102 during at least one of: take-off from and landing to a givenembodiment of the location 100, and in transit operation. In someexamples, the control panel 116 may be operable with the flightmanagement system 150 to control the at least one UAV 102 during atleast one of: take-off from and landing to the location 100. In yetother examples, the control panel 116 may be operable to provide back-upcontrol of the at least one UAV 102 in the case of failure of the flightmanagement system 150.

For example, the control panel 116 may be operable to receive flightmanagement system 150 status updates from the flight management system150 at pre-programmed intervals. The control panel 116 may be operableto transmit a control-takeover signal to the at least one UAV 102 inresponse to receiving no (i.e. failing to receive) status updates fromthe flight management system 150 during a pre-set period of time. Inother examples, the control panel 116 may be operable with the flightmanagement system 150 to track the status of the at least one UAV as atleast one of: scheduled to land, landing, scheduled to take-off, takingoff, and in transit. The control panel 116 may be configured to becapable of sending the control-takeover signal when the status of the atleast one UAV is one of: scheduled to land, landing, scheduled totake-off, and taking off.

Additionally, the method may comprise the following steps, at adeparture location 100, selected for a requested delivery:

(i) after receiving a request for delivery of an article, at either thecontrol panel 116 or the flight management system 150, generating adeparture access code for a location 100 that is a departure locationfor the requested delivery;

(ii) transmitting the access code to one or more persons associated withthe delivery request, who are senders of the article (as part of thedelivery request or order, a customer may be asked for contactinformation for one or more senders at the departure location and one ormore receivers at the destination location, for transmission of accesscodes);

(iii) the access codes may be transmitted wirelessly or otherwise, toeach senders portable device such as a smart phone, tablet computer andthe like and to the control panel 116 at the departure location;

(iv) a sender with the access code will approach the departure location100, but will not be permitted access until a UAV selected for thedelivery is present at the departure location 100; in some cases arequired UAV may already be present and waiting, while in others therewill be some delay until a UAV can be sent and arrives from some otherlocation;

(v) once the UAV 102 is present at the departure location 100 (andoptionally in the case of a recently arrived UAV, after providing timefor rotors to come to rest), the flight management system 150 checks thedeparture location 100 using available sensors and/or visually checkingthe location using the surveillance apparatus 120, which may be doneeither by a computer generated check for unauthorized movement orpresence of unauthorized objects, or by an operator examining images ofthe departure location 100; once it is confirmed that there are noobstructions at the departure location 100, the flight management system150 will transmit to the control panel 116 a signal permitting the lock114 to be opened; optionally, a visual indication can be provided by thecontrol panel 116, e.g. on a screen and/or a signal sent to each senderhaving the access code for the departure location 100 that the locationis now available for access;

(vi) a sender can then enter the departure access code, which may beeither by way of a keypad at the departure location 100 or bytransmitting the access code using suitable short range wirelesstransmission from a handheld device, such as Bluetooth™, whichnecessarily will require an individual to be present;

(vii) on receipt of the access code, the control panel 116 will open thelock 114, and the sender can then enter the departure location 100;

(viii) as required, the printer 138 can be used as detailed above toprint a label for an article to be delivered and the sender will thenattach the label to the article;

(ix) the sender will then approach the UAV and secure the article to theUAV as a payload for delivery; this may comprise the sender opening acompartment in the UAV placing the article in the compartment andclosing the compartment, e.g. by an unlatching an latching operation;the UAV will have sensors to detect opening and closing of the articlecompartment, which will be transmitted to the control panel 116 and tothe flight management system 150;

(x) the sender may be required to carry out a series of checks andindicate that each of these has been carried out, e.g. by checking boxesin a list or a screen of the control panel 116 or on a user's handhelddevice; these checks can include: is area clear; has a visual inspectionbeen completed; is UAV intact and undamaged including check that allrotors are present, secured and with no obvious damage;

(xi) the sender will then exit the departure location, which may requirereentering of the departure access code to open the gate 112; optionallyif the sender does not exit within a prescribed time period, acommunication can be sent to the sender's handheld device to remindhim/her to exit;

(xii) as earlier, sensors at the departure location 100 including thevideo sensor or surveillance apparatus 120 may then be used to confirmthat the sender has exited the location 100; the lock 114 will then beclosed and will not permit the sender to reopen the lock 114, even ifthe access code is entered again;

(xiii) the flight management system 150 may then run required pre-flightchecks on the UAV 102 including, for example, checking the weight of theUAV with the article, checking on the available battery life for theUAV, and a final check on weather along the route for the delivery; and

(xiv) if the checks are all clear, the UAV will then be instructed bythe flight management system 150 to commence the delivery; at this time,optionally, a communication can be sent to all parties involved in thedelivery (again as detailed by the person requesting delivery) that thedelivery has commenced, which will usually include a sender at thedeparture location and a receiver at the destination location, and thismay include an anticipated arrival time.

Correspondingly, at a destination location 100 (it will be understoodthat the departure and destination locations will be separate, but thesame reference numeral is used for both, as both of them will havesimilar elements as shown in the Figures and as described), the methodcan include the flight management system generating a destination accesscode that will be transmitted to the person requesting the delivery, andwhich may be the same as or different from the departure access code.The method at the destination location can include the followingadditional steps:

(i) as detailed elsewhere, the UAV 102 will be permitted to land at thelocation, once it is confirmed that the closure 112 is closed and lockedand that there are no obstructions present; as for the departuresequence, a receiver may be required to enter the location and toperform and to confirm visual checks;

(ii) as for the departure sequence, a destination access code will besent to each receiver that has been identified to the flight managementsystem 150 and to the control panel 116 at the destination location;

(iii) after the UAV 102 has landed at the destination location 100 and,optionally, after allowing a suitable period of time for the rotors ofthe UAV to come to rest, the control panel 116 and/or the flightmanagement system 150 will send a signal to the lock 114, to permit itto be opened by the destination access code;

(iv) the receiver will then enter the destination access code at thedestination location 100; as for the departure location, this may bedone either by entering the access code on a local keypad, or by way ofshort range wireless communication, e.g. Bluetooth™, from a handhelddevice or the like;

(v) with the destination access code entered, the lock 114 is opened,and the receiver may open the gate or closure 112, to gain access to thedestination location 100;

(vi) optionally, to ensure all necessary actions are completed, the lock114 may then be closed, and may only be opened once the receiver hascompleted required actions to retrieve an article etc.; this option mayinclude the provision of an emergency release of the lock 114, in caseof some failure or breakdown that prevents a receiver from completingthe required actions;

(vii) the receiver will then approach the UAV 102, open a compartmentfor the article, e.g. by releasing a latch, or otherwise detach thearticle from the UAV 102, and where necessary close a compartment;

(viii) the receiver may then send a signal, e.g. by reentering theaccess code, or entering a different code provided, to the control panel116 which will communicate with the flight management system 150, toindicate that the article has been retrieved;

(ix) the flight management system 150 will then check that the articlehas been retrieved, by confirming that the measured weight of the UAV,as measured by the UAV pad 200, has been reduced by the weight of thearticle, and will also confirm that any required actions such asrelatching or closing a compartment have been completed;

(x) once the flight management system 150 has confirmed these actions,i.e. retrieval of the article and closure of a compartment on the UAV,the lock 114 is then again released;

(xi) the receiver can then reenter the local destination access code, toopen the lock 114, so the receiver may exit the departure location 100bearing the article; when the receiver closes the closure or gate 112,the lock 114 secures the closure 112; at this time, the receiver'sdestination access code may then be rendered inoperative, to prevent anyreentry by the receiver into the location 100, and optionally, this mayonly be after the receiver has sent a communication to the flightmanagement system 150 confirming that receipt of the article is completeand/or after a predetermined period of time after the receiver hasexited the destination location.

Reference will now be made to FIGS. 2 and 3 which show alternativelocations that include, respectively, two and four individual andseparate zones. For simplicity and brevity, like components in FIGS. 2and 3 are given the same reference numeral as in FIG. 1, and it will beunderstood that in general the individual components of the locationshown in FIG. 1 will be duplicated for each of the zones shown in FIGS.2 and 3.

Thus, in FIG. 2, a location 300 has an enclosure 306 with a barrier 304,which includes an additional dividing wall 332. This provides for afirst zone 308 with an identifier 328 for landing and taking off, and asecond zone 326 with an identifier 330 for landing and taking off, eachof which can be accessed separately through a respective closure or gate112, to ensure that, for each zone, only authorized personnel are givenaccess.

Similarly in FIG. 3, a barrier 404 is divided by walls 440 into fourseparate zones 408, 426, 432 and 436, with respective identifiers 428,430, 434 and 438. Each zone is provided with its own access closure orgate 112. (It will be understood that in order to show details of eachzone, in FIGS. 1, 2 and 3, barrier and dividing walls are showncutaway.)

A controlled access UAV zone or location as disclosed can be provided ata variety of different places. For example, a drone delivery serviceoperator may provide a UAV parking zone or location at customers'premise, for each customer who regularly uses the drone deliveryservice. The customers could be, for example, manufacturers, shippers,distributors or other businesses. The controlled access UAV zone orlocation may also be provided at any suitable public location orbuilding. E.g., in smaller communities, it could be provided at aschool, hospital, town hall, public library, court house, shopping mall,etc., and may be a building or facility that is government owned andoperated or one that is privately owned and operated, such as a shoppingmall. A controlled access UAV location may also be provided at amulti-tenanted building, such as a condominium. For any building,including mid to high rise multi-occupant buildings, it may bepreferable to place the UAV location on the roof or other high point ofthe building.

In another aspect, a UAV parking zone or location could be provided foruse by several customers of drone delivery service. For example, acommon UAV parking zone or location can be provided at an industrialmall, where there are a number of businesses. In such a case, eachbusiness may be provided with an access code.

In some embodiments and depending on the UAV parking zone or locationand the businesses, a common access code for accessing the UAV parkingzone or location may be provided to the businesses. In otherembodiments, each business may be provided with a dedicated access code.Dedicated access codes may provide for, for example, tracking access tothe UAV parking zone or location, and setting up varying permissionlevels. The permission levels may include, for example, for eachdedicated access code one or more time slots during which the accesscode may provide access to a given UAV parking zone or location. Eachindividual access code may be made active, only when a UAV is arrivingor leaving with a delivery for that business.

In yet another aspect, a pay structure may be assigned to dedicatedaccess codes. Alternatively or as well, the pay structure could varydepending on time, e.g. time slots outside of regular business hourscould be less expensive than time slots in regular business hours. Insome examples, one or more permission levels may be assigned to a givendedicated access code depending on the terms of an agreement under whichthe code may be licensed or leased to a customer. In a particularexample, a customer access system may be provided using at least onecomputing system. The access system may be operable to provide a paystructure for dedicated access codes. For example, a year may be brokendown into weeks, days, and possibly hours.

The resulting time slots, days, and weeks may each be associated, eitherindividually or in groups, with varying levels of demand for a dronedelivery service at a given UAV parking zone or location. Accordingly,the system may be operable to sell, lease, or rent out dedicated accesscodes depending on the access or permission level(s) requested by acustomer for each of the access codes.

For example, the customer access system may be operable to assign to agiven dedicated access code permissions for that code to provide accessto a given UAV parking zone or location on Mondays, Wednesdays, andFridays, and may be operable to assign a given sale, lease, or rent rateor value (for example, expressed in dollars) to that code, or type ofcode. The system may be further operable to assign different permissionsand lease, or rent rate or value to different dedicated access codes ortypes or classes of dedicated access codes.

In a further aspect, the customer access system may be operable toassign different one or more limits for at least one of UAV landings andtake-offs, and corresponding pricing, for different dedicated accesscodes, dedicated access code types, or dedicated access code classes. Ina given example, the customer access system may be operable to selldedicated access codes on at least one of a per-UAV-landing and aper-UAV-take-off basis. That is, the system may assign a given price foreach UAV landing and each UAV take-off, and may also provide discountswhere, for example, a minimum number or numbers of landings andtake-offs are purchased by a customer.

In yet a further aspect, the system may assign a dedicated access codeto a given customer, and may be operable to request “re-fills” oflandings and take-offs when the customer uses all pre-purchased landingsand take-offs at the UAV parking zone or location to which that code maybe assigned. In another aspect, the system may be operable to track thenumber of landings and take-offs used by each customer and may beoperable to bill each customer based on the number and based on, forexample, a payment method chosen by each customer. In one example, acustomer may provide at least one of a credit card and a debit card andauthorization to charge the card(s) on, for example, a weekly or amonthly basis.

Other aspects are described next. In one aspect, if one of thebusinesses at the example industrial mall, a customer of the dronedelivery service, is either sending an article or expecting delivery ofan article by the drone delivery service, only that customer's accesscode may permit access to the UAV zone or location while this deliveryoperation is taking place.

For a package to be sent from the UAV zone or location, access to thelocation may be restricted to that customer, until the UAV has picked upthe article and departed from the UAV zone or location. At that time,the UAV zone or location may be released for use by another customer.Similarly, while the UAV is delivering an article to one customer,access may be restricted to that one customer, until at least thecustomer has accessed the UAV zone or location and retrieved thedelivered article.

A UAV zone or location as disclosed can be provided in a variety ofdifferent places. It can be provided simply on any suitable flat,unobstructed piece of ground. Alternatively, and for an example in amore crowded or industrial setting, the UAV zone or location may beprovided on top of a building with a flat roof, or a building on which alarge enough flat landing and take-off area can be constructed. Anadvantage of providing a UAV zone or location on top of a building maybe that it may reduce the requirement for a UAV to fly down betweenobstructions such as poles, power cables, other buildings, and the likeand may reduce the possibility for accidents.

In addition to locations identified above, a UAV location as disclosedcan be provided at warehouses, distribution centers, cross-dockingfacilities, order fulfillment facilities, packaging facilities, shippingfacilities, rental facilities, libraries, retail stores, wholesalestores, museums, or other facilities or combinations thereof.

While the UAV shown is a multirotor helicopter, a UAV location can beconfigured for any type of UAV, including multirotor helicopters, suchas a quadcopter or a fixed wing craft. For example, the UAV may includea combination of both propellers and fixed wings. For example, the UAVmay utilize one or more propellers to enable take-off and landing and afixed wing configuration or a combination wing and propellerconfiguration to sustain flight while the UAV is airborne. A UAVlocation for UAVs not adapted for vertical landing and take-off will beconfigured to provide suitable flight paths for landing and take-off.

A UAV for use with the UAV location disclosed can include anyinstrumentation suitable for assisting in the control of the UAV,including a time of flight sensor or calculator, radar, sonar, a camera,an infrared sensor, one or more displays, image capture devices, thermalsensors, accelerometers, pressure sensors, weather sensors, LIDAR,sensors for detecting hazardous materials, etc.

Further, while the invention has been described for use with aerialvehicles, it may be applied to land vehicles, such as robots orautonomously guided vehicles as cars, the travel along road systems.

The apparatuses, systems, functions, and methods described in thisdocument may be implemented using any combination of suitable knowntechnology, materials, and manufacturing, assembly, and programmingmethods.

A number of embodiments have been described herein. However, it will beunderstood by persons skilled in the art that other variants andmodifications may be made without departing from the scope of theembodiments as defined in the claims appended hereto. A person skilledin the art will also recognize that the embodiments described aboveshould be read as representative of a plethora of permutations notexplicitly described, the permutations incorporating elements fromvarious embodiments.

1. A UAV location management method for use with a flight managementsystem, the method comprising: providing a secure access unmanned aerialvehicle (UAV) location; providing a cleaner for the location; andmonitoring for an obstruction in the UAV location; when an obstructionis present in the UAV location: (i) restricting access to the UAVlocation; (ii) transmitting an instruction to the flight managementsystem to halt UAV flights and take-offs to and from the UAV location;and (iii) transmitting an instruction to the cleaner to clear theobstruction from the UAV location.
 2. The method as claimed in claim 1,including: determining that the obstruction is one of: a) at least oneanimate object, b) at least one inanimate object, and c) at least oneanimate object in combination with at least one inanimate object; andwhen the obstruction is determined to be at least one inanimate object,performing at least one of the steps (i) to (iii).
 3. The method ofclaim 1, further comprising providing at least a second UAV pad for atleast UAV take-offs, and providing a second UAV-readable identifier forthe second UAV pad, the second identifier being UAV-distinguishable fromthe first identifier.
 4. The method of claim 2, further comprising, byusing at least one computing system: controlling ground access to theUAV location by requesting entry of a ground access code upon receivinga request for the ground access to the location; receiving a referencecode from the flight management system; comparing the ground access codewith the reference code; denying the ground access where the groundaccess code does not match the reference code; and granting the groundaccess where the ground access code matches the reference code.
 5. Themethod of claim 2, further comprising providing at least one of a landline, an internet connection, a cellular connection, a wifi connectionand a satellite connection for the flight management system to accessthe at least one channel.
 6. A method of controlling access to alocation for unmanned aerial vehicles (UAVs) comprising one or more ofthe following steps, at a departure location selected for a requesteddelivery: (i) after receiving a request for delivery of an article,generating a departure access code for the departure location; (ii)transmitting the access code to one or more persons associated with thedelivery request, the access codes optionally being transmittedwirelessly or otherwise, to each sender's portable device; (iii) eachsender with the access code approaching the departure location and willbe permitted access when a UAV selected for the delivery is present atthe departure location; (iv) once the UAV is present at the departurelocation, checking with the flight management system available sensorsand/or visually checking the location using the surveillance apparatus,for unauthorized movement or presence of unauthorized objects; (v) onceit is confirmed that there are no obstructions at the departurelocation, transmitting to a control panel signal permitting the lock tobe opened; (vi) entering by the sender the departure access code, whichmay be either by way of a keypad at the departure location or bytransmitting the access code using suitable short range wirelesstransmission from a handheld device; (vii) on receipt of the accesscode, opening the lock, to permit the sender to enter the departurelocation; (viii) having the sender secure an article to the UAV as apayload for delivery and then exit the departure location; and (ix)causing the UAV to take-off to deliver the article secured to the UAV toa destination location.
 7. The method of claim 6, including, after step(viii): having the sender carry out a series of checks, includingchecking for obstructions and that the UAV is undamaged, and indicatethat each of these has been carried out, optionally by checking boxes ina list or a screen of the control panel or on a user's handheld device8. The method of claim 6, including using sensors at the departurelocation, including video sensor or surveillance apparatus, to confirmthat the sender has exited the location, and once confirmed closing thelock to prevent reentry.
 9. The method of claim 6, including having theflight management system run pre-flight checks on the UAV including, forexample, checking the weight of the UAV with the article, checking onthe available battery life for the UAV, and a final check on weatheralong the route for the delivery.
 10. The method of claim 6, includingwhen the delivery is commenced sending a communication to partiesinvolved in the delivery which optionally includes the sender at thedeparture location and a receiver at the destination location.
 11. Amethod of receiving a delivery by an unmanned aerial vehicle (UAV) atdestination location, comprising one or more of the following steps: (i)permitting the UAV to land at the destination location, once it isconfirmed that a closure for that location is closed and locked and thatthere are no obstructions present; (ii) sending a destination accesscode at least to each receiver that has been identified to a controlpanel at the destination location; (iii) after the UAV has landed at thedestination location, sending a signal to the lock, so as to permit thelock to be opened by the destination access code; (iv) having thereceiver enter the destination access code at the destination location;(v) with the destination access code entered, opening the lock, so thereceiver may open the closure, to gain access to the destinationlocation; (vi) having the receiver approach the UAV and retrieve thearticle from the UAV; (vii) having the receiver leave the destinationlocation with the article; and (viii) as required, causing the UAV todepart from the destination location, with or without another article.12. The method of claim 11, including, to ensure all necessary actionsare completed, maintaining the lock closed while the article is beingretrieved, and only opening the lock once the receiver has completedrequired actions to retrieve an article, which optionally includeschecking that the article has been retrieved, by confirming that themeasured weight of the UAV has been reduced by the weight of thearticle.